version: 66.11
glider: 169
mission: 8
dive: 326
start: 5 24 113 17 53 17
data:
$ID,169
$MISSION,8
$DIVE,326
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,400
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,430
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21823.727
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.03682
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,240513,174000,1944.494,12342.135,37,1.5,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-73.5
$GPS2,240513,175248,1943.938,12342.012,15,1.4,32,-2.4
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,6.3,87557,-3.2,-8.250,-19.13,2990
$D_GRID,5036
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.48,-160.6,122,2562,1248,964,0.0,0.0,0,99,0.00,0.00,-72.15,0.000,16386,0.000,0.000,122,2562,2967,2900,3035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.48,-160.6,122,2562,2900,3036,3.8,-8.5,10,129,8.52,2.72,-8.93,0.000,18948,0.227,0.045,2219,1098,3510,3384,3637,0,0,0,0,0,0,25.42,25.99,26.43
$GC,262,-0.48,-160.6,2219,1097,3386,3637,60.7,-25.9,23,269,0.00,2.62,0.00,0.000,1030,0.000,0.034,2210,2559,3512,3387,3637,0,0,0,0,0,0,28.83,26.03,28.83
$GC,578,-0.48,-160.6,2210,2556,3387,3637,139.0,-21.8,39,584,0.00,2.58,0.00,0.000,516,0.000,0.029,2210,1073,3512,3387,3637,0,0,0,0,0,0,28.83,26.20,28.83
$GC,646,-0.48,-160.6,2210,1073,3387,3637,151.1,-18.9,42,652,0.00,2.62,0.00,0.000,1030,0.000,0.036,2209,2560,3512,3387,3637,0,0,0,0,0,0,28.83,26.16,28.83
$GC,974,-0.48,-160.6,2208,2556,3388,3637,210.8,-17.0,58,980,0.00,2.12,0.00,0.000,260,0.000,0.049,2207,3821,3512,3388,3636,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1015,-0.48,-160.6,2207,3821,3387,3636,215.5,-16.8,59,1023,0.00,2.03,0.00,0.000,1030,0.000,0.024,2207,2525,3512,3388,3637,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1320,-0.48,-160.6,2206,2525,3388,3636,266.2,-15.7,75,1325,0.00,2.47,0.00,0.000,516,0.000,0.028,2207,1072,3512,3388,3637,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1350,-0.48,-160.6,2207,1071,3388,3637,270.5,-16.1,76,1356,0.00,2.62,0.00,0.000,1030,0.000,0.036,2207,2555,3512,3388,3636,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1672,-0.48,-160.6,2206,2552,3388,3636,318.6,-14.7,92,1678,0.00,2.55,0.00,0.000,516,0.000,0.026,2207,1078,3511,3387,3636,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1725,-0.48,-160.6,2207,1078,3387,3636,325.3,-14.3,94,1731,0.00,2.60,0.00,0.000,1030,0.000,0.034,2206,2558,3511,3387,3636,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2048,-0.48,-160.6,2206,2555,3388,3633,365.2,-12.6,110,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2555,3510,3388,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2345,-0.48,-160.6,2206,2554,3387,3629,403.5,-12.3,125,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2554,3508,3388,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2646,-0.48,-160.6,2206,2554,3387,3624,437.3,-11.2,140,2652,0.00,2.58,0.00,0.000,516,0.000,0.028,2207,1071,3506,3387,3625,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2699,-0.48,-160.6,2207,1072,3387,3624,442.5,-11.3,142,2705,0.00,2.60,0.00,0.000,1030,0.000,0.034,2206,2558,3508,3387,3629,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3022,-0.48,-160.6,2206,2555,3387,3618,477.2,-11.1,158,3029,0.00,2.15,0.00,0.000,260,0.000,0.048,2196,3824,3502,3387,3617,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3079,-0.48,-160.6,2196,3823,3387,3616,483.1,-11.6,160,3085,0.00,2.08,0.00,0.000,1030,0.000,0.024,2195,2523,3501,3387,3616,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3395,-0.48,-160.6,2196,2523,3387,3612,522.4,-12.3,176,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2523,3499,3387,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3694,-0.48,-160.6,2196,2523,3387,3606,557.3,-11.1,191,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2523,3496,3387,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3995,-0.48,-160.6,2196,2523,3387,3600,587.6,-9.4,206,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2523,3494,3387,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4315,-0.48,-160.6,2196,2523,3387,3596,618.8,-10.0,219,4321,0.00,2.33,0.00,0.000,260,0.000,0.049,2191,3839,3491,3387,3596,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4339,-0.48,-160.6,2191,3840,3387,3595,618.8,-10.0,219,4346,0.10,2.12,0.00,0.000,3078,0.132,0.026,2222,2521,3491,3387,3595,0,0,0,0,0,0,26.22,26.44,28.83
$GC,4659,-0.48,-160.6,2222,2522,3387,3590,645.7,-7.5,230,4665,0.00,2.30,0.00,0.000,260,0.000,0.050,2220,3838,3488,3387,3589,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4709,-0.48,-160.6,2220,3838,3386,3589,648.7,-7.7,231,4715,0.00,2.10,0.00,0.000,1030,0.000,0.024,2220,2520,3487,3386,3589,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5033,-0.48,-160.6,2220,2521,3385,3586,674.0,-7.5,242,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2521,3486,3385,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5331,-0.48,-160.6,2220,2521,3382,3582,696.7,-7.8,252,5337,0.00,2.30,0.00,0.000,260,0.000,0.047,2217,3835,3481,3382,3580,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5401,-0.48,-160.6,2217,3835,3381,3582,702.0,-8.0,254,5407,0.00,2.10,0.00,0.000,1030,0.000,0.025,2217,2522,3481,3381,3582,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5731,-0.48,-160.6,2217,2523,3380,3578,731.3,-9.2,265,5737,0.00,2.30,0.00,0.000,260,0.000,0.046,2207,3829,3479,3380,3578,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5756,-0.48,-160.6,2207,3829,3380,3579,731.3,-9.2,265,5762,0.00,2.10,0.00,0.000,1030,0.000,0.025,2207,2523,3479,3380,3579,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6075,-0.48,-160.6,2207,2524,3379,3575,764.3,-9.5,276,6081,0.00,2.30,0.00,0.000,260,0.000,0.048,2204,3840,3475,3379,3572,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6111,-0.48,-160.6,2206,3840,3378,3576,767.8,-9.3,277,6118,0.00,2.15,0.00,0.000,1030,0.000,0.025,2207,2523,3477,3378,3576,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6448,-0.48,-160.6,2206,2524,3376,3572,795.5,-8.0,288,6454,0.00,2.30,0.00,0.000,260,0.000,0.048,2205,3836,3474,3377,3572,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6499,-0.48,-160.6,2203,3832,3376,3572,798.7,-8.2,289,6505,0.00,2.15,0.00,0.000,1030,0.000,0.025,2206,2522,3474,3376,3572,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6823,-0.48,-160.6,2206,2523,3376,3569,824.5,-7.6,300,6829,0.00,2.30,0.00,0.000,260,0.000,0.048,2196,3835,3472,3376,3569,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6871,-0.48,-160.6,2196,3835,3375,3569,827.0,-7.3,301,6876,0.00,2.12,0.00,0.000,1030,0.000,0.025,2196,2524,3472,3376,3569,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7196,-0.48,-160.6,2196,2525,3375,3566,855.0,-8.6,312,7203,0.00,2.28,0.00,0.000,260,0.000,0.046,2186,3827,3469,3374,3565,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7243,-0.48,-160.6,2185,3827,3373,3566,858.3,-8.6,313,7250,0.12,2.12,0.00,0.000,3078,0.118,0.026,2226,2525,3469,3373,3566,0,0,0,0,0,0,26.10,26.36,28.83
$GC,7571,-0.48,-160.6,2226,2526,3373,3562,881.9,-6.8,324,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2531,3467,3373,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7871,-0.48,-160.6,2226,2526,3371,3561,901.2,-6.3,334,7877,0.00,2.30,0.00,0.000,260,0.000,0.047,2220,3843,3466,3371,3561,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7922,-0.48,-160.6,2220,3843,3370,3561,903.4,-6.3,335,7928,0.00,2.15,0.00,0.000,1030,0.000,0.026,2220,2521,3465,3370,3561,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8243,-0.48,-160.6,2220,2521,3370,3558,924.2,-5.9,346,8249,0.00,2.33,0.00,0.000,260,0.000,0.049,2209,3843,3463,3370,3557,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8293,-0.48,-160.6,2209,3844,3369,3557,926.5,-6.0,347,8299,0.00,2.15,0.00,0.000,1030,0.000,0.028,2205,2526,3463,3369,3557,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8617,-0.48,-160.6,2209,2527,3368,3555,947.5,-6.3,358,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2528,3461,3368,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8914,-0.48,-160.6,2209,2527,3368,3554,968.0,-7.0,368,8920,0.00,2.30,0.00,0.000,260,0.000,0.048,2207,3832,3461,3368,3554,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8976,-0.48,-160.6,2206,3832,3366,3554,970.8,-7.3,369,8984,0.00,2.12,0.00,0.000,1030,0.000,0.026,2207,2527,3460,3366,3554,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,9219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9219,begin apogee
$GC,9227,-0.12,0.0,2206,2718,3367,3553,991.4,-7.4,378,9376,0.35,0.05,142.02,1.035,10246,0.088,0.043,2336,2646,2844,2856,2833,0,0,0,0,0,0,25.94,24.83,24.01
$STATE,9378,end apogee,CONTROL_FINISHED_OK
$STATE,9378,begin climb
$GC,9381,0.48,160.6,2336,2646,2852,2821,997.6,0.0,382,9543,0.52,0.00,155.93,0.969,10502,0.041,0.000,2549,2646,2191,2317,2066,0,0,0,0,0,0,25.03,28.83,23.72
$GC,9827,0.48,160.6,2549,2646,2292,2043,963.8,10.5,398,9833,0.00,2.67,0.00,0.000,516,0.000,0.024,2561,1240,2166,2291,2042,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9846,0.48,160.6,2561,1239,2287,2042,963.8,10.5,398,9852,0.00,2.83,0.00,0.000,1030,0.000,0.028,2559,2723,2165,2288,2042,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10166,0.48,160.6,2559,2721,2286,2042,926.7,11.1,409,10172,0.00,2.78,0.00,0.000,516,0.000,0.023,2572,1236,2164,2286,2042,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10202,0.48,160.6,2572,1236,2283,2042,922.7,11.1,410,10210,0.12,2.80,0.00,0.000,5126,0.144,0.027,2536,2724,2162,2283,2042,0,0,0,0,0,0,25.75,25.99,28.83
$GC,10539,0.48,160.6,2536,2722,2281,2042,890.5,9.3,421,10546,0.00,1.77,0.00,0.000,260,0.000,0.044,2536,3829,2162,2282,2042,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10580,0.48,160.6,1568,3830,2238,2034,887.5,9.2,422,10586,0.00,1.77,0.00,0.000,1030,0.000,0.018,2545,2630,2161,2281,2042,0,0,0,0,0,0,28.83,26.31,28.83
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$GC,17023,0.69,243.6,2574,3829,2010,1755,305.8,7.9,685,17032,0.00,1.80,4.45,0.555,9222,0.000,0.018,2584,2629,1859,1988,1730,0,0,0,0,0,0,28.83,26.09,25.01
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$STATE,20373,end climb,SURFACE_DEPTH_REACHED
$STATE,20373,begin surface coast
$FINISH,-0.3,1.021411
$STATE,20392,end surface coast,CONTROL_FINISHED_OK
$STATE,20392,begin surface
$SM_CCo,20410,5.65,0.133,0,0,1098,430.01
$SM_GC,1.57,6.70,0.47,5.65,0.028,0.027,0.133,140,2515,1098,-6.94,0.28,430.01,0,0,0,0,0,0,26.06,26.29,25.69
$IRIDIUM_FIX,1936.66,12345.21,240513,121206
$TT8_MAMPS,0.021721,0.021721
$HUMID,48.81
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3855840
$24V_AH,23.7,42.771
$10V_AH,10.1,33.655
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.900,194.425,554.850,5.650,0.000,0.000,0.000,441.325,0.000,0.000,34.931,3625.389,13260.160,768.445,2617.914,878.642,0.000,2394.788,0.000,2022.603,0.000,0.544,0.000
$DEVICE_MAMPS,227.205,74.205,1035.045,133.110,0.000,0.000,0.000,123.930,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20481.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.429,0.000,0.000,0.000
$MEM,329092
$DATA_FILE_SIZE,33402,884
$CAP_FILE_SIZE,467727,0
$CFSIZE,260034560,201912320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.211,224.1,1
$GPS,240513,233436,1944.058,12340.502,25,1.5,25,-2.4